ICRA 2011 Paper Abstract


Paper WeP104.3

Taylor, Camillo Jose (University of Pennsylvania), Cowley, Anthony (University of Pennsylvania)

Fast Scene Analysis Using Image and Range Data

Scheduled for presentation during the Regular Sessions "Range Sensing III" (WeP104), Wednesday, May 11, 2011, 14:10−14:25, Room 3E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Range Sensing, Computer Vision for Robotics and Automation


This paper presents a scheme which takes as input a 3D point cloud and an associated color image and parses the scene into a collection of salient planar surfaces. The scheme makes use of a fast color segmentation scheme to divide the color image into coherent regions and the groupings suggested by this procedure are used to inform and accelerate a RANSAC based interpretation process. Results on real data sets are presented.



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